EP3856662C0 - System und verfahren zum automatischen lagern, kommissionieren und verpacken von gegenständen - Google Patents

System und verfahren zum automatischen lagern, kommissionieren und verpacken von gegenständen

Info

Publication number: EP3856662C0
Authority: EP; European Patent Office
Prior art keywords: picking; packaging; items; automatic storage; automatic
Prior art date: 2018-09-28
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.): Active

Application number

EP19866298.3A

Other languages

English (en)

French (fr)

Other versions

EP3856662A1 (de

EP3856662B1 (de

EP3856662A4 (de

Inventor

Torfi Thorhallsson

Hafrun Hauksdottir

Kjetil Gjerde

Eriksen Simon Marnburg

Berge Mikal Jansen

Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)

Pickr As

Original Assignee

Pickr As

Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)

2018-09-28

Filing date

2019-09-30

Publication date

2024-03-20

2019-09-30 Application filed by Pickr As filed Critical Pickr As

2021-08-04 Publication of EP3856662A1 publication Critical patent/EP3856662A1/de

2022-07-06 Publication of EP3856662A4 publication Critical patent/EP3856662A4/de

2024-03-20 Application granted granted Critical

2024-03-20 Publication of EP3856662C0 publication Critical patent/EP3856662C0/de

2024-03-20 Publication of EP3856662B1 publication Critical patent/EP3856662B1/de

Status Active legal-status Critical Current

2039-09-30 Anticipated expiration legal-status Critical

Links

Classifications

- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
- B25J9/009—Program-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
- B65G1/08—Storage devices mechanical with means for presenting articles for removal at predetermined position or level the articles being fed by gravity
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers

Landscapes

Engineering & Computer Science (AREA)
Mechanical Engineering (AREA)
Robotics (AREA)
Business, Economics & Management (AREA)
Multimedia (AREA)
Economics (AREA)
Human Resources & Organizations (AREA)
Entrepreneurship & Innovation (AREA)
Development Economics (AREA)
Marketing (AREA)
Operations Research (AREA)
Quality & Reliability (AREA)
Strategic Management (AREA)
Tourism & Hospitality (AREA)
Physics & Mathematics (AREA)
General Business, Economics & Management (AREA)
General Physics & Mathematics (AREA)
Theoretical Computer Science (AREA)
Warehouses Or Storage Devices (AREA)

EP19866298.3A 2018-09-28 2019-09-30 System und verfahren zum automatischen lagern, kommissionieren und verpacken von gegenständen Active EP3856662B1 (de)

Applications Claiming Priority (2)

Application Number	Priority Date	Filing Date	Title
NO20181263A NO345595B1 (en)	2018-09-28	2018-09-28	System and method for automated storage, picking, and packing of items
PCT/NO2019/050200 WO2020067907A1 (en)	2018-09-28	2019-09-30	System and method for automated storage, picking, and packing of items

Publications (4)

Publication Number	Publication Date
EP3856662A1 EP3856662A1 (de)	2021-08-04
EP3856662A4 EP3856662A4 (de)	2022-07-06
EP3856662C0 true EP3856662C0 (de)	2024-03-20
EP3856662B1 EP3856662B1 (de)	2024-03-20

Family

ID=69952763

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP19866298.3A Active EP3856662B1 (de)	2018-09-28	2019-09-30	System und verfahren zum automatischen lagern, kommissionieren und verpacken von gegenständen

Country Status (6)

Country	Link
US (1)	US11878864B2 (de)
EP (1)	EP3856662B1 (de)
CA (1)	CA3113614A1 (de)
ES (1)	ES2979167T3 (de)
NO (1)	NO345595B1 (de)
WO (1)	WO2020067907A1 (de)

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US20210179356A1 (en) *	2019-12-11	2021-06-17	Solomon Technology Corporation	Method of automated order picking, and system implementing the same
US11318499B2 (en) *	2019-12-19	2022-05-03	Nimble Robotics, Inc.	Robotic system having shuttle
US20210241226A1 (en) *	2020-02-01	2021-08-05	AiFi Corp	Robotic arm with an auto-checkout system
CN113264313A (zh)	2020-06-12	2021-08-17	深圳市海柔创新科技有限公司	取/放货的拍摄方法、拍摄模块以及搬运机器人
NO346778B1 (en)	2020-08-31	2022-12-27	Autostore Tech As	A method and system for picking products in a picking station of an automatic storage and retrieval system
AT524051B1 (de)	2020-12-17	2022-02-15	Peter Entenfellner Dr	Vorrichtung zum Verlagern von Transportbehältern zwischen einem Behälterstapel und einem Behälterregal
CN113023213B (zh) *	2021-03-05	2023-05-05	上海有个机器人有限公司	智能仓储内盒子的搬运方法、系统、计算机设备及存储介质
US11629009B2 (en)	2021-07-14	2023-04-18	Newteq Holding B.V.	Automated warehouse systems, assemblies, apparatuses, and methods for assembling mixed pallets and facilitating order picking
NO348205B1 (en) *	2021-08-09	2024-09-30	Pickr As	System for retrieving at least one object from a storage system and filling at least one container
US11897149B2 (en) *	2021-12-09	2024-02-13	Google Llc	Object handling apparatus
JP7622720B2 (ja) *	2022-10-07	2025-01-28	トヨタ自動車株式会社	仕分けシステム、仕分け方法、およびプログラム
CN115533957B (zh) *	2022-10-14	2024-10-11	浙江艾隆科技有限公司	取药装置的控制方法及其装置
US20240189186A1 (en) *	2022-12-12	2024-06-13	Express Scripts Strategic Development, Inc.	Methods and systems for filling climate controlled medications
CN119460515A (zh) *	2024-12-18	2025-02-18	诺力智能装备股份有限公司	一种料箱密集仓储环境的具身智能存取系统及存取方法

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JP2001261126A (ja)	2000-03-17	2001-09-26	Murata Mach Ltd	ピッキングシステム
DE10136090A1 (de)	2001-07-26	2003-02-27	Dirk Rolf Beils	Verfahren und Vorrichtung für die rechnergesteuerte Ein- und Auslagerung von kleinteiligen Produkten
DE102007025488B3 (de) *	2007-05-31	2008-09-11	Dematic Gmbh & Co. Kg	Verfahren zum Betrieb eines Kommissioniersytems
EP2244958B1 (de) *	2007-12-19	2020-02-05	RxSafe, LLC	Verfahren zum lagern und entnehmen von pharmazeutischen produkten unter verwendung eines lager- und entnahmesystems für pharmazeutische produkte
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2018
- 2018-09-28 NO NO20181263A patent/NO345595B1/en unknown
2019
- 2019-09-30 ES ES19866298T patent/ES2979167T3/es active Active
- 2019-09-30 EP EP19866298.3A patent/EP3856662B1/de active Active
- 2019-09-30 US US17/277,053 patent/US11878864B2/en active Active
- 2019-09-30 WO PCT/NO2019/050200 patent/WO2020067907A1/en not_active Ceased
- 2019-09-30 CA CA3113614A patent/CA3113614A1/en active Pending

Also Published As

Publication number	Publication date
ES2979167T3 (es)	2024-09-24
US11878864B2 (en)	2024-01-23
US20210371200A1 (en)	2021-12-02
WO2020067907A1 (en)	2020-04-02
EP3856662A1 (de)	2021-08-04
NO20181263A1 (en)	2020-03-30
EP3856662B1 (de)	2024-03-20
NO345595B1 (en)	2021-05-03
EP3856662A4 (de)	2022-07-06
CA3113614A1 (en)	2020-04-02

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